【导航定位】GNSS数据说明-RTCM

sylvia0726

已于 2025-03-31 08:55:04 修改

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文章标签：经验分享卫星导航

于 2025-03-28 11:48:12 首次发布

本文链接：https://blog.csdn.net/sylvia0726/article/details/146590975

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RTCM协议

RTCM(Radio Technical Commission for Maritime Services)是一个非营利性组织，致力于制定和推广用于导航和定位的标准。RTCM协议最初用于海事服务，后来扩展到广泛的GNSS应用领域。RTCM协议的主要目的是提高GNSS数据的传输效率和定位精度。

RTCM官网链接如下：Home

RTCM最新协议是由国际海运事业无线电技术委员会(Radio Technical Commission for Maritime services)制定的RTCM SC10403.3协议，简称RTCM 3.3协议，可为卫星导航系统中的移动站提供差分改正数据，提高其定位精度。

RTCM定义的内容包括卫星导航数据的头文件，信息长度，如何解码，如何编码，各个GNSS的系统如何分配数据长度，数据位置，各种信息的定义。正因为都是遵循这个协议，所以不管是什么导航厂家，都可以接收到来自北斗，GPS，Galileo，GLONASS以及各类增强服务等信息并加以利用。

RTCM主要电文
RTCM3 Messages:

RTCM 1001 - L1-Only GPS RTK Observables

RTCM 1002 - Extended L1-Only GPS RTK Observables

RTCM 1003 - L1&L2 GPS RTK Observables

RTCM 1004 - Extended L1&L2 GPS RTK Observables

RTCM 1005 - Stationary RTK Reference Station ARP

RTCM 1006 - Stationary RTK Reference Station ARP with Antenna Height

RTCM 1007 - Antenna Descriptor

RTCM 1008 - Antenna Descriptor and Serial Number

RTCM 1009 - L1-Only GLONASS RTK Observables

RTCM 1010 - Extended L1-Only GLONASS RTK Observables

RTCM 1011 - L1&L2 GLONASS RTK Observables

RTCM 1012 - Extended L1&L2 GLONASS RTK Observables

RTCM 1013 - System Parameters

RTCM 1015 - Network RTK (MAC), GPS Ionospheric Correction Differences

RTCM 1016 - Network RTK (MAC), GPS Geometric Correction Differences

RTCM 1017 - Network RTK (MAC), GPS Combined Geometric and Ionospheric Correction Differences

RTCM 1019 - GPS Satellite Ephemeris Data

RTCM 1020 - Glonass Satellite Ephemeris Data

RTCM 1021 - Helmert-Abridged Molodenski Transformation Parameters

RTCM 1022 - Molodenski-Badekas Transformation Parameters

RTCM 1023 - Residuals, Ellipsoidal Grid Representation

RTCM 1024 - Residuals, Plane Grid Representation

RTCM 1025 - Projection Parameters, Projection Types other than Lambert Conic Conformal (2 SP) and Oblique Mercator

RTCM 1026 - Projection Parameters, Projection Type LCC2SP (Lambert Conic Conformal (2 SP))

RTCM 1027 - Projection Parameters, Projection Type OM (Oblique Mercator)

RTCM 1029 - Unicode Text String

RTCM 1033 - Receiver and Antenna descriptors

RTCM 1037 - Network RTK (MAC), GLONASS Ionospheric Correction Differences

RTCM 1038 - Network RTK (MAC), GLONASS Geometric Correction Differences

RTCM 1039 - Network RTK (MAC), GLONASS Combined Geometric and Ionospheric Correction Differences

RTCM 1042 - BDS Satellite Ephemeris Data

RTCM 1044 - QZSS Satellite Ephemeris Data

RTCM 1045 - Galileo F/NAV Satellite Ephemeris Data

RTCM 1046 - Galileo I/NAV Satellite Ephemeris Data

RTCM 1230 - GLONASS L1&L2 Code-Phase Biases

RTCM3 MSM messages:

RTCM1071 GPS MSM1 - Compact Pseudoranges

RTCM1072 GPS MSM2 - Compact PhaseRanges

RTCM1073 GPS MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1074 GPS MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1075 GPS MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1076 GPS MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1077 GPS MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM1081 GLONASS MSM1 - Compact Pseudoranges

RTCM1082 GLONASS MSM2 - Compact PhaseRanges

RTCM1083 GLONASS MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1084 GLONASS MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1085 GLONASS MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1086 GLONASS MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1087 GLONASS MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM1091 GALILEO MSM1 - Compact Pseudoranges

RTCM1092 GALILEO MSM2 - Compact PhaseRanges

RTCM1093 GALILEO MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1094 GALILEO MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1095 GALILEO MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1096 GALILEO MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1097 GALILEO MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM1101 SBAS MSM1 - Compact Pseudoranges

RTCM1102 SBAS MSM2 - Compact PhaseRanges

RTCM1103 SBAS MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1104 SBAS MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1105 SBAS MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1106 SBAS MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1107 SBAS MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM1111 QZSS MSM1 - Compact Pseudoranges

RTCM1112 QZSS MSM2 - Compact PhaseRanges

RTCM1113 QZSS MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1114 QZSS MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1115 QZSS MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1116 QZSS MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1117 QZSS MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM1121 BEIDOU MSM1 - Compact Pseudoranges

RTCM1122 BEIDOU MSM2 - Compact PhaseRanges

RTCM1123 BEIDOU MSM3 - Compact Pseudoranges and PhaseRanges

RTCM1124 BEIDOU MSM4 - Full Pseudoranges and PhaseRanges plus CNR

RTCM1125 BEIDOU MSM5 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR

RTCM1126 BEIDOU MSM6 - Full Pseudoranges and PhaseRanges plus CNR (high resolution)

RTCM1127 BEIDOU MSM7 - Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)

RTCM版本历史

RTCM2.X：只支持部分系统，进行单一功能的扩展，目前该格式使用的已经不多；

RTCM3.0：表示从 RTCM2.X 向 RTCM3.X 进行过渡，目前使用的并不多；

RTCM3.2：使用的较多，为标准格式；

RTCM3.3：格式与 RTCM3.2 基本一致，在RTCM3.2基础上增加了北斗星历、GA1-7星历、SBAS系统等；

RTCM数据格式

RTCM数据格式分为包头、有效数据、校验帧尾

包头：

前导码：以 D3 00开头；

保留位：保留位补0, 存在6个二进制位；

电文长度：电文的有效数据长度；

RTCM常用的电文类型

观测值电文：单个卫星系统为1包电文，所以多系统的单个历元中会存在多条电文；

星历电文：单颗卫星的信息为1包电文，电文在有卫星信息更新的时候进行播发，不同的卫星系统星历更新的时间段不一样；

基站电文：基站坐标、基站天线信息、辅助信息等；

SSR电文：精密轨道、精密钟差；

Ref：

https://blog.csdn.net/mayue_web/article/details/122449364

https://www.cnblogs.com/CristL/p/13880817.html